CN106602968B - Servo motor driving unit structure - Google Patents
Servo motor driving unit structure Download PDFInfo
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- CN106602968B CN106602968B CN201710006637.5A CN201710006637A CN106602968B CN 106602968 B CN106602968 B CN 106602968B CN 201710006637 A CN201710006637 A CN 201710006637A CN 106602968 B CN106602968 B CN 106602968B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
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Abstract
The invention relates to the field of high-power servo motor driving, in particular to a servo motor driving unit structure. The invention provides a servo motor driving unit structure with a special structure, which can be used for servo motor driving control, and consists of a functional module and a special shell structure, wherein the shell is of a book-shaped cuboid structure, and the top surface and the bottom surface of the shell structure are respectively provided with a direct current bus groove body, a mBUS interface, a MC_GPIO interface, a speed sensor interface MC_CNRLA interface and a motor interface which are respectively correspondingly installed with corresponding functional modules in the shell, so that the corresponding control driving function is realized, the whole size is smaller, and in addition, the whole appearance of the structure is of a book shape, the structure is favorable for modular production and common integrated installation with other related unit modules, and has great significance on use occasions with limited installation space (such as high-speed rail).
Description
Technical Field
The invention relates to the field of high-power servo motor driving, in particular to a servo motor driving unit structure.
Background
The servo motor driving unit is a necessary control device for the normal operation of the servo motor, in some high-power application occasions, such as high-speed rails, the servo motor driving unit is required to meet the power requirement of the servo motor, the installation space in the high-speed rails is limited, the volume of the driving unit is required to be reduced as much as possible, in fact, in most cases, the reserved space size is designed for the servo motor driving unit and related devices in the high-speed rails in advance, and the servo motor driving unit and the related devices can only be installed in the reserved space, so that the structural layout of the servo motor driving unit becomes critical.
Disclosure of Invention
The invention aims to provide a modularized servo motor driving unit structure which occupies small installation space for the existing servo motor for high-speed rails.
In order to achieve the above object, the present invention provides the following technical solutions:
a servo motor driving unit structure, a shell, wherein the shell is of a book-shaped cuboid structure; the rear end of the shell is fixed on the heat dissipation device, or the heat dissipation device is integrated at the rear end of the shell; a direct current bus duct body which traverses the shell is arranged at the position, close to the heat dissipation device, of the top end of the shell; the shell top surface is provided with at least one mBUS interface, at least one MC_GPIO interface, at least one speed sensor interface and more than two top heat dissipation holes; the mBUS interface is used for connecting the servo motor driving unit with the central control unit by adopting an mBUS bus; the speed sensor interface is used for receiving speed sensor data from the servo motor; the MC_GPIO interface is used for receiving digital input, pulse input, analog input and external Z signals, and performing digital output and encoder feedback pulse output.
The bottom end surface of the shell is provided with a motor interface, at least one MC_CNRLA interface and more than two bottom end heat dissipation holes; the motor interface is arranged on one side of the bottom end surface of the shell, which is close to the heat radiating device, and the MC_CNRLA interface is arranged on one side of the bottom end surface of the shell, which is far away from the heat radiating device; the bottom radiating holes are uniformly distributed on the bottom surface of the shell; the MC_CNRLA interface is used for communication between the MC_CNRL module and the central control unit, and the MC_CNRL module is used for motor temperature protection switch control, hard wire emergency stop control and radiator fan control;
the inner side of the surface of the shell, which is contacted with the heat dissipation device, is a surface for fixing the functional device module; the functional device module comprises an inversion unit for directly driving the servo motor.
The speed sensor interface comprises a B+ port, a B-port, an A+ port, an A-port, a Z+ port and a Z-port with fixed physical positions;
the device further comprises an RJ45 interface, wherein a pin 8 of the RJ45 interface is used for providing signals for a B-port, a pin 7 of the RJ45 interface is used for providing signals for a B+ port, a pin 6 of the RJ45 interface is used for providing signals for an A-port, a pin 3 of the RJ45 interface is used for providing signals for an A+ port, and a pin 2 of the RJ45 interface is connected with a Z-port; pin 1 is arranged to interconnect with the z+ port;
the system also comprises a first signal processing circuit, a second signal processing circuit, a third signal processing circuit and a transmitting circuit;
the first signal processing circuit comprises an EQEP2B end connected with the controller, wherein the EQEP2B end is connected with a power supply through a first resistor, is connected with ground through a first capacitor, and is also connected with the output end of the first optocoupler through a second resistor; the input end of the first optocoupler is connected with the first reverse-preventing circuit and the first lightning-proof circuit in series, the positive electrode of the first optocoupler receives signals from the B+ port, and the negative electrode of the first optocoupler receives signals from the B-port;
the second signal processing circuit comprises an EQEP2A end connected with the controller, wherein the EQEP2A end is connected with a power supply through a third resistor, is connected with ground through a second capacitor, and is also connected with the output end of the second optocoupler through a fourth resistor; the input end of the second optocoupler is connected with the second reverse-preventing circuit and the second lightning-proof circuit in series, the positive electrode of the input end of the second optocoupler receives signals from the A+ port, and the negative electrode of the input end of the second optocoupler receives signals from the A-port;
the third signal processing circuit comprises an EQEP2I end connected with the controller, wherein the EQEP2I end is connected with a power supply through a fifth resistor, is connected with ground through a third capacitor, and is also connected with the output end of a third optocoupler through a sixth resistor; the input end of the third optocoupler is connected with the third reverse-proof circuit and the third lightning-proof circuit in series, the positive electrode of the input end of the third optocoupler receives signals from the Z+ port, and the negative electrode of the input end of the third optocoupler receives signals from the Z-port;
the transmitting circuit comprises an SPI1_SCK port connected with the controller, the SPI1_SCK port is connected with the negative electrode of the fourth optical coupler through a seventh resistor, the seventh resistor can be connected with the positive electrode of the fourth optical coupler through an eighth resistor at the same time, and the positive electrode of the fourth optical coupler is also connected with a power supply; meanwhile, the output end of the fourth optical coupler is connected with a bidirectional transceiver chip; the bidirectional transceiver chip is also connected with a Z+ port and a Z-port respectively.
Further, the first reverse-preventing circuit comprises a first diode, the positive electrode of the first diode is connected with the negative electrode of the first optocoupler input end, and the negative electrode of the first diode is connected with the positive electrode of the first optocoupler input end; the second diode is connected with the positive electrode of the input end of the first optocoupler;
the second anti-reverse circuit comprises a third diode, the positive electrode of the third diode is connected with the negative electrode of the second optocoupler input end, the negative electrode of the third diode is connected with the positive electrode of the second optocoupler input end, and the second anti-reverse circuit also comprises a fourth diode, and the positive electrode of the fourth diode is connected with the positive electrode of the second optocoupler input end;
the third reverse prevention circuit comprises a fifth diode, the positive electrode of the fifth diode is connected with the negative electrode of the third optocoupler input end, the negative electrode of the fifth diode is connected with the positive electrode of the third optocoupler input end, and the third reverse prevention circuit further comprises a sixth diode, and the positive electrode of the sixth diode is connected with the positive electrode of the third optocoupler input end.
Further, the first lightning protection circuit comprises a first small signal diode, a first transient suppression diode, a seventh diode and an eighth diode, wherein the first small signal diode is reversely connected in series with the seventh diode, the first transient suppression diode is reversely connected in series with the eighth diode, meanwhile, the cathodes of the first small signal diode and the eighth diode are both connected with the anode of the first optocoupler input end, and the cathodes of the seventh diode and the first transient suppression diode are both connected with the cathode of the first optocoupler input end;
the second lightning protection circuit comprises a second small signal diode, a second transient suppression diode, a ninth diode and a twelfth diode, wherein the second small signal diode is reversely connected in series with the ninth diode, the second transient suppression diode is reversely connected in series with the twelfth diode, meanwhile, the cathodes of the second small signal diode and the twelfth diode are both connected with the anode of the second optocoupler input end, and the cathodes of the ninth diode and the second transient suppression diode are both connected with the cathode of the second optocoupler input end;
the third lightning protection circuit comprises a third small signal diode, a third transient suppression diode, an eleventh diode and a twelfth diode, wherein the third small signal diode is reversely connected in series with the eleventh diode, the third transient suppression diode is reversely connected in series with the twelfth diode, meanwhile, the cathodes of the third small signal diode and the twelfth diode are both connected with the positive electrode of the third optocoupler input end, and the cathodes of the eleventh diode and the third transient suppression diode are both connected with the negative electrode of the third optocoupler input end.
Further, the bidirectional transceiver chip adopts a chip SN65176BDR, and a pin D of the chip SN65176BDR is connected with the fourth optocoupler output end; pin B is connected with port Z; pin A is connected to port Z+.
Furthermore, the direct current bus duct body is arranged on the heat radiating device, and a gap is reserved at the mounting position of the direct current bus duct body.
Further, the direct current bus duct body is arranged on the shell.
Further, the direct current bus duct body comprises an end bus duct body and a copper bar;
the end bus duct body comprises two parallel copper bar grooves for placing copper bars, copper columns containing internal threads are arranged at the bottoms of the copper bar grooves, and the copper columns penetrate through the bottoms of the copper bar grooves;
the copper bar is provided with a through hole which is matched with the copper column in position, and the through hole is used for fixing the copper bar on the bottom of the copper bar groove through a bolt;
the bottom of the end bus duct body is provided with a protruding fixing part, and the protruding fixing part is provided with a fixing groove for fixing the end bus duct body on appointed equipment.
Further, the direct current bus duct body comprises two end bus duct bodies positioned at two ends respectively and at least one spliced bus duct body positioned between the two end bus duct bodies;
the spliced bus duct body comprises a copper bar groove which is identical to the end bus duct body;
the length of the copper bar is greater than the width of the end bus duct body and the width of the spliced bus duct body, so that the spliced bus duct body is fixed by the copper bar when the copper bar is fixed in a copper bar groove in the spliced bus duct body.
Further, the copper bar is of a two-layer laminated structure;
one layer of the two-layer laminated structure of the copper bar, which is close to the surface of the copper bar groove, is a first copper bar layer, and the other layer is a second copper bar layer;
furthermore, the part of the copper column extending out of the bottom surface of the end bus duct body or the bottom surface of the spliced bus duct body is of a flange structure.
Further, the direct current bus duct body further comprises a cover plate, and the cover plate is buckled at the top of the copper bar groove so as to prevent the copper bar from being exposed.
Further, the end bus duct body and the spliced bus duct body are made of nylon containing glass fibers.
Further, the copper column extends out of the bottom surface of the copper bar groove by 0.3 mm-0.7 mm.
Compared with the prior art, the invention has the beneficial effects that: the invention provides a servo motor driving unit structure with a special structure, which can be used in the field of servo motor control and comprises a functional module and a special shell structure, wherein the shell is of a book-shaped cuboid structure, and the top surface and the bottom surface of the shell structure are respectively provided with a direct current bus groove body, a mBUS interface, a MC_GPIO interface, a speed sensor interface MC_CNRLA interface and a motor interface which are respectively correspondingly installed with corresponding functional modules in the interior, so that corresponding control driving functions are realized.
The direct current bus groove, the mBUS interface, the MC_GPIO interface, the MC_CNRLA interface and the motor interface are provided with corresponding functional module positions, for example, the direct current bus groove and the power supply access interface are respectively arranged on the top surface and the bottom surface of the shell and close to the heat dissipation device, and the main power components of the motor driving unit are also arranged on one surface of the interior of the shell close to the heat dissipation device; therefore, the unit structure provided by the invention has more reasonable layout, so that the whole volume is smaller, and in addition, the whole appearance of the structure is book-shaped, which is favorable for modularized production and common integrated installation with other related unit modules, and has great significance on the use occasions with limited installation space (such as high-speed rails).
Description of the drawings:
fig. 1 is a schematic diagram of a driving unit structure of a servo motor provided by the invention.
Fig. 2 is a diagram showing a bottom structure of a motor driving unit according to the present invention.
Fig. 3 is a schematic diagram of an end bus duct.
Fig. 4 is a schematic bottom view of an end busway.
Fig. 5 is a schematic diagram of splice installation of an end bus duct and a splice bus duct.
Fig. 6 is a schematic diagram of copper bar connection board overlap joint between different application units.
Fig. 7 is an electrical schematic diagram of a servo motor driving unit provided by the invention.
Fig. 8 is a circuit diagram of a first signal processing circuit of the speed sensor interface.
Fig. 9 is a circuit diagram of a second signal processing circuit of the speed sensor interface.
Fig. 10 is a circuit diagram of a third signal processing circuit of the speed sensor interface.
Fig. 11 is a circuit diagram of a speed sensor interface transmission circuit.
Fig. 12 is a diagram of the definition of the speed sensor interface JR15 interface pins.
1-shell, 11-mBUS interface, 12-speed sensor interface, 13-MC_GPIO interface; 14-top radiating holes, 15-MC_CNRLA interfaces, 16-motor interfaces, 17-bottom radiating holes, 2-radiating devices, 3-direct current bus duct bodies, 100-end bus duct bodies, 110-convex fixing parts, 111-fixing grooves, 120-copper columns, 121-flange structures, 130-copper bar grooves, 200-spliced bus duct bodies, 300-copper bars, 301-through holes, 310-first copper bar layers, 320-second copper bar layers, 321-copper bar connecting plates and 400-cover plates.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings and specific examples. It should not be construed that the scope of the above subject matter of the present invention is limited to the following embodiments, and all techniques realized based on the present invention are within the scope of the present invention.
Example 1: as shown in fig. 1, 2 and 7, the present embodiment provides a servo motor driving unit structure, which includes a housing 1, wherein the housing 1 is a book-shaped cuboid structure;
in this embodiment, the rear end of the housing 1 is fixed on the heat dissipating device 2; a direct current bus duct body 3 crossing the shell is arranged at the top end of the shell 1 and close to the heat radiating device 2; the surface of the top end of the shell 1 is provided with an mBUS interface 11, an MC_GPIO interface 13, a speed sensor interface 12 and more than two top end heat dissipation holes 14; the mBUS interface 11 is used for connecting the servo motor driving unit with the central control unit by using an mBUS bus; the speed sensor interface 12 is used for receiving speed sensor data from the servo motor; the mc_gpio interface 13 is configured to receive a digital input, a pulse input, an analog input, an external Z signal, and perform digital output and encoder feedback pulse output;
the bottom end surface of the shell 1 is provided with a motor interface 16, two MC_CNRLA interfaces 15 and more than two bottom end heat dissipation holes 17; the motor interface 16 is arranged on one side of the bottom end surface of the shell 1, which is close to the heat radiator 2, and the MC_CNRLA interface 15 is arranged on one side of the bottom end surface of the shell 1, which is far away from the heat radiator 2; the bottom radiating holes 17 are uniformly distributed on the bottom surface of the shell; the mc_cnrla interface 15 is used for communication between the mc_cnrl module and the central control unit, and the mc_cnrl module is used for controlling a motor temperature protection switch, controlling hard wire emergency stop and controlling a cooling fan; the inner side of the surface of the shell 1, which is contacted with the heat dissipation device 2, is a surface for fixing the functional device module; the functional device module comprises an inversion unit for directly driving the servo motor.
As shown in fig. 8 to 12, the speed sensor interface includes a physically fixed b+ port, B-port, a+ port, a-port, z+ port, Z-port; the device further comprises an RJ45 interface, wherein a pin 8 of the RJ45 interface is used for providing signals for a B-port, a pin 7 of the RJ45 interface is used for providing signals for a B+ port, a pin 6 of the RJ45 interface is used for providing signals for an A-port, a pin 3 of the RJ45 interface is used for providing signals for an A+ port, and a pin 2 of the RJ45 interface is connected with a Z-port; pin 1 is arranged to interconnect with the z+ port; the system also comprises a first signal processing circuit, a second signal processing circuit, a third signal processing circuit and a transmitting circuit; the first signal processing circuit comprises an EQEP2B end connected with the controller, wherein the EQEP2B end is connected with a power supply VCC through a first resistor R13, is connected with the ground through a first capacitor C15, and is also connected with the output end of the first optocoupler through a second resistor R12; the input end of the first optocoupler is connected with the first reverse-preventing circuit and the first lightning-proof circuit in series, the positive electrode of the first optocoupler receives signals from the B+ port, and the negative electrode of the first optocoupler receives signals from the B-port; the second signal processing circuit comprises an EQEP2A end connected with the controller, wherein the EQEP2A end is connected with a power supply VCC through a third resistor R15, is connected with the ground through a second capacitor C16, and is also connected with the output end of the second optocoupler through a fourth resistor R14; the input end of the second optocoupler is connected with the second reverse-preventing circuit and the second lightning-proof circuit in series, the positive electrode of the input end of the second optocoupler receives signals from the A+ port, and the negative electrode of the input end of the second optocoupler receives signals from the A-port; the third signal processing circuit comprises an EQEP2I end connected with the controller, wherein the EQEP2I end is connected with a power supply VCC through a fifth resistor R17, is connected with the ground through a third capacitor C17, and is also connected with the output end of a third optocoupler through a sixth resistor R16; the input end of the third optocoupler is connected with the third reverse-preventing circuit and the third lightning-preventing circuit in series, the positive electrode of the input end of the third optocoupler receives signals from the Z+ port, and the negative electrode of the input end of the third optocoupler receives signals from the Z-port.
The transmitting circuit comprises an SPI1_SCK port connected with the controller, wherein the SPI1_SCK port is connected with the negative electrode of the fourth optocoupler through a seventh resistor R18, the seventh resistor R18 can be simultaneously connected with the positive electrode of the fourth optocoupler through an eighth resistor R10, and the positive electrode of the fourth optocoupler is also connected with a power supply C; meanwhile, the output end of the fourth optical coupler is connected with a bidirectional transceiver chip; the bidirectional transceiver chip is also connected with a Z+ port and a Z-port respectively. In this embodiment, the bidirectional transceiver chip adopts a chip SN65176BDR, and a pin D of the chip SN65176BDR is connected to the fourth optocoupler output end; pin B is connected with port Z; pin A is connected to port Z+.
The first reverse-preventing circuit comprises a first series schottky pair tube D4, a pin 1 of the first series schottky pair tube D4 is connected with the negative electrode of the first optocoupler input end, and a pin 3 of the first series schottky pair tube D4 is connected with the positive electrode of the first optocoupler input end; the second reverse-preventing circuit comprises a second series schottky pair tube D5, a pin 1 of the second series schottky pair tube D5 is connected with the cathode of the input end of the second optocoupler, and a pin 3 of the second series schottky pair tube D5 is connected with the anode of the input end of the second optocoupler; the third anti-reverse circuit comprises a third series schottky pair tube D6, a pin 1 of the third series schottky pair tube D6 is connected with the negative electrode of the third optocoupler input end, and a pin 3 of the third series schottky pair tube D6 is connected with the positive electrode of the third optocoupler input end. In this embodiment BV99WT1G is used.
The first lightning protection circuit comprises a first small signal diode, a first transient suppression diode, a seventh diode and an eighth diode, wherein the first small signal diode is reversely connected in series with the seventh diode, the first transient suppression diode is reversely connected in series with the eighth diode, meanwhile, the cathodes of the first small signal diode and the eighth diode are both connected with the positive electrode of the first optocoupler input end, and the cathodes of the seventh diode and the first transient suppression diode are both connected with the negative electrode of the first optocoupler input end; the second lightning protection circuit comprises a second small signal diode, a second transient suppression diode, a ninth diode and a twelfth diode, wherein the second small signal diode is reversely connected in series with the ninth diode, the second transient suppression diode is reversely connected in series with the twelfth diode, meanwhile, the cathodes of the second small signal diode and the twelfth diode are both connected with the anode of the second optocoupler input end, and the cathodes of the ninth diode and the second transient suppression diode are both connected with the cathode of the second optocoupler input end; the third lightning protection circuit comprises a third small signal diode, a third transient suppression diode, an eleventh diode and a twelfth diode, wherein the third small signal diode is reversely connected in series with the eleventh diode, the third transient suppression diode is reversely connected in series with the twelfth diode, meanwhile, the cathodes of the third small signal diode and the twelfth diode are both connected with the positive electrode of the third optocoupler input end, and the cathodes of the eleventh diode and the third transient suppression diode are both connected with the negative electrode of the third optocoupler input end. In this embodiment, BV03C is directly used. The interface circuit of the servo motor speed sensor in the embodiment adopts a JR15 interface, and the function of each pin of the interface is customized, so that the control circuit adopts different communication protocols only by changing the communication protocol chip arranged between the JR15 interface and the processing circuit (the first signal processing circuit, the second signal processing circuit, the third signal processing circuit and the transmitting circuit) under the condition that the external ports (B+ port, B-port, A+ port, A-port, Z+ port and Z-port) are fixed on the circuit board, so as to adapt to different position sensors (such as an incremental photoelectric encoder, a magnetic encoder and an absolute value photoelectric encoder). The circuit adopts a circuit board structure with reserved ports, and can change the interface circuit into a corresponding communication interface by plugging or welding the corresponding chip at the external port after determining what communication protocol chip is needed without installing a specific communication protocol chip during production.
In this embodiment, as shown in fig. 3 to 6, the dc bus duct 3 is mounted on the heat dissipation device 2, and a gap is reserved in the mounting position of the dc bus duct 3 by the housing 1; the direct current bus duct body 3 comprises an end bus duct body 100 and a copper bar 300; the end bus duct body 100 comprises two parallel copper bar grooves 130 for placing copper bars, copper columns 120 containing internal threads are arranged at the bottoms of the copper bar grooves 130, and the copper columns 120 penetrate through the bottoms of the copper bar grooves 130; the copper bar 300 is provided with a through hole 301 which is adapted to the position of the copper column 120, and the through hole 301 is used for fixing the copper bar on the bottom of the copper bar groove 130 through a bolt; the bottom end of the end bus duct body 100 is provided with a convex fixing portion 110, and the convex fixing portion 110 is provided with a fixing groove 111 for fixing the end bus duct body 100 on a designated device. In this embodiment, the dc bus duct 3 includes two end bus duct bodies 100 respectively located at two ends and at least one spliced bus duct body 200 located between the two end bus duct bodies 100; the spliced bus duct body 200 includes the same copper bar groove 130 as the end bus duct body 100; the length of the copper bar is greater than the width of the end bus duct body 100 and the width of the splice bus duct body 200, so that the splice bus duct body 200 is fixed by the copper bar when the copper bar is fixed in the copper bar groove 130 in the splice bus duct body 200. The copper bars are of a two-layer laminated structure; one layer of the two-layer structure of the copper bar, which is close to the surface of the copper bar groove 130, is a first copper bar layer 310, and the other layer is a second copper bar layer 320; when the dc bus is applied to two independent application units, such as the application unit i and the application unit ii in the embodiment, the first copper bar layers 310 for the two independent application units are independent of each other and are not connected to each other; a copper bar connecting plate 321 is adopted to be lapped on the first copper bar layer 310 of two independent application units, so that direct current buses of the two application units are interconnected; the part of the copper column 120 extending out of the bottom surface of the end bus duct body 100 or the bottom surface of the spliced bus duct body 200 is a flange structure 121. The direct current bus duct body 3 further comprises a cover piece 400, and the cover piece 400 is buckled at the top of the copper bar groove 130 so as to prevent the copper bar from being exposed. The materials of the end bus duct body 100 and the spliced bus duct body 200 are nylon containing glass fibers, and the copper pillars 120 extend out of the bottom surface of the copper bar groove 130 by 0.3 mm-0.7 mm.
Claims (9)
1. The servo motor driving unit structure is characterized by comprising a shell, wherein the shell is of a book-shaped cuboid structure;
the rear end of the shell is fixed on the heat dissipation device, or the heat dissipation device is integrated at the rear end of the shell;
a direct current bus duct body crossing the shell is arranged at the position, close to the heat dissipation device, of the top end of the shell;
the direct current bus duct body comprises an end bus duct body and copper bars;
the end bus duct body comprises two parallel copper bar grooves for placing copper bars, copper columns containing internal threads are arranged at the bottoms of the copper bar grooves, and the copper columns penetrate through the bottoms of the copper bar grooves;
the copper bar is provided with a through hole which is matched with the copper column in position, and the through hole is used for fixing the copper bar on the bottom of the copper bar groove through a bolt;
the bottom end of the end bus duct body is provided with a convex fixing part, and the convex fixing part is provided with a fixing groove for fixing the end bus duct body on appointed equipment;
the shell top surface is provided with at least one mBUS interface, at least one MC_GPIO interface, at least one speed sensor interface and more than two top heat dissipation holes; the mBUS interface is used for connecting the servo motor driving unit with the central control unit by adopting an mBUS bus; the speed sensor interface is used for receiving speed sensor data from the servo motor; the MC_GPIO interface is used for receiving digital input, pulse input, analog input and external Z signals, and performing digital output and encoder feedback pulse output;
the bottom end surface of the shell is provided with a motor interface, at least one MC_CNRLA interface and more than two bottom end heat dissipation holes; the motor interface is arranged on one side of the bottom end surface of the shell, which is close to the heat radiating device, and the MC_CNRLA interface is arranged on one side of the bottom end surface of the shell, which is far away from the heat radiating device; the bottom radiating holes are uniformly distributed on the bottom surface of the shell; the MC_CNRLA interface is used for communication between the MC_CNRL module and the central control unit, and the MC_CNRL module is used for motor temperature protection switch control, hard wire emergency stop control and radiator fan control;
the inner side of the surface of the shell, which is contacted with the heat dissipation device, is a surface for fixing the functional device module; the functional device module comprises an inversion unit for directly driving the servo motor.
2. The motor drive unit structure of claim 1, wherein the speed sensor receiving circuit includes a physically fixed b+ port, B-port, a+ port, a-port, z+ port, Z-port;
the device further comprises an RJ45 interface, wherein a pin 8 of the RJ45 interface is used for providing signals for a B-port, a pin 7 is used for providing signals for a B+ port, a pin 6 is used for providing signals for an A-port, a pin 3 is used for providing signals for an A+ port, and a pin 2 is connected with a Z-port in an interconnection manner; pin 1 is arranged to interconnect with the z+ port;
the system also comprises a first signal processing circuit, a second signal processing circuit, a third signal processing circuit and a transmitting circuit;
the first signal processing circuit comprises an EQEP2B end connected with the controller, wherein the EQEP2B end is connected with a power supply through a first resistor, is connected with ground through a first capacitor, and is also connected with the output end of the first optocoupler through a second resistor; the input end of the first optocoupler is connected with the first reverse-preventing circuit and the first lightning-proof circuit in series, the positive electrode of the first optocoupler receives signals from the B+ port, and the negative electrode of the first optocoupler receives signals from the B-port;
the second signal processing circuit comprises an EQEP2A end connected with the controller, wherein the EQEP2A end is connected with a power supply through a third resistor, is connected with ground through a second capacitor, and is also connected with the output end of the second optocoupler through a fourth resistor; the input end of the second optocoupler is connected with the second reverse-preventing circuit and the second lightning-proof circuit in series, the positive electrode of the input end of the second optocoupler receives signals from the A+ port, and the negative electrode of the input end of the second optocoupler receives signals from the A-port;
the third signal processing circuit comprises an EQEP2I end connected with the controller, wherein the EQEP2I end is connected with a power supply through a fifth resistor, is connected with ground through a third capacitor, and is also connected with the output end of a third optocoupler through a sixth resistor; the input end of the third optocoupler is connected with the third reverse-proof circuit and the third lightning-proof circuit in series, the positive electrode of the input end of the third optocoupler receives signals from the Z+ port, and the negative electrode of the input end of the third optocoupler receives signals from the Z-port;
the transmitting circuit comprises an SPI1_SCK port connected with the controller, the SPI1_SCK port is connected with the negative electrode of the fourth optical coupler through a seventh resistor, the seventh resistor is simultaneously connected with the positive electrode of the fourth optical coupler through an eighth resistor, and the positive electrode of the fourth optical coupler is also connected with a power supply; meanwhile, the output end of the fourth optical coupler is connected with the bidirectional transceiver chip; the bidirectional transceiver chip is also connected with a Z+ port and a Z-port respectively.
3. The motor drive unit structure according to claim 2, wherein the first reverse-preventing circuit includes a first diode, the anode of the first diode is connected to the cathode of the first optocoupler input terminal, and the cathode of the first diode is connected to the anode of the first optocoupler input terminal; the second diode is connected with the positive electrode of the input end of the first optocoupler;
the second anti-reverse circuit comprises a third diode, the positive electrode of the third diode is connected with the negative electrode of the second optocoupler input end, the negative electrode of the third diode is connected with the positive electrode of the second optocoupler input end, and the second anti-reverse circuit also comprises a fourth diode, and the positive electrode of the fourth diode is connected with the positive electrode of the second optocoupler input end;
the third reverse prevention circuit comprises a fifth diode, the positive electrode of the fifth diode is connected with the negative electrode of the third optocoupler input end, the negative electrode of the fifth diode is connected with the positive electrode of the third optocoupler input end, and the third reverse prevention circuit further comprises a sixth diode, and the positive electrode of the sixth diode is connected with the positive electrode of the third optocoupler input end.
4. The motor drive unit structure of claim 1, wherein the dc bus duct is mounted on a heat sink, and the housing is provided with a gap at a mounting position of the dc bus duct.
5. The motor drive unit structure of claim 1, wherein the direct current bus duct is mounted on the housing.
6. The motor driving unit structure according to claim 1, wherein the direct current bus duct includes two end bus ducts at both ends, respectively, and at least one splice bus duct between the two end bus ducts;
the spliced bus duct body comprises a copper bar groove which is the same as the end bus duct body;
the length of the copper bar is greater than the width of the end bus duct body and the width of the spliced bus duct body, so that the spliced bus duct body is fixed by the copper bar when the copper bar is fixed in a copper bar groove in the spliced bus duct body.
7. The motor drive unit structure according to claim 6, wherein the copper bar is a two-layer laminated structure;
one layer of the two-layer laminated structure of the copper bar, which is close to the surface of the copper bar groove, is a first copper bar layer, and the other layer is a second copper bar layer.
8. The motor driving unit structure according to claim 1, wherein the direct current bus duct further comprises a cover piece, and the cover piece is buckled on the top of the copper bar groove to prevent the copper bar from being exposed.
9. The motor drive unit structure of claim 1, wherein the material of the end bus duct body and the spliced bus duct body is nylon containing glass fiber.
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